Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 563 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 563 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 20 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -46593.008 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -46593.008

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 563 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 118.5,147841,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 616

Post-dive calculations and measurements:

FREEZE 8.83,-1.699,-1.766,2,98,0 ALTIM_TOP_PING 19.3,17.2

FINISH1 8.8,1.025865,80 _24V_AH 21.5,74.627

FINISH2 7.4 _10V_AH 10.0,38.525

RAFOS_CLK 608 FG_AHR_24Vo 0.000

RAFOS 0,1304712066,20.033333,20.018333,85,66,55,54,53,52,648,202,170,181,228,219 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.619629,-6002.332031,060511,202022,6,85,0.41 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43382,1092

TT8_MAMPS 0.026964 CAP_FILE_SIZE 123354,0

HUMID 47.75 CFSIZE 260165632,216920064

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.30 SOUNDSPEED 1453.6

XPDR_PINGS 0 GPS 060511,202722,6651.620,-6002.332,0,6084.8,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 219 23.96 SBE_CT 780 24 402.82

Roll_motor 99 177 379.10 SBE_O2 837 19 342.16

VBD_pump_during_apogee 391 1321 11121.96 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2630 19 523.96

LPSleep 6056 2 139.90

TT8_Active 454 19 90.52

TT8_Sampling 1787 39 713.38

TT8_CF8 212 45 97.46

TT8_Kalman 0 0 0.00

Analog_circuits 1424 12 170.93

GPS_charging 0 0 0.00

Compass 1774 15 266.10

RAFOS 2520 1 37.80

Transponder 14 30 4.49

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.62 0.000 2 0.000 0.000 2901 3686 2885 0 0 0 0 0 0

27 -0.62 -146.0 9.1 -0.0 1 57 0.68 0.35 -22.48 0.000 4 0.106 0.177 2666 3897 3627 0 0 0 0 0 0

300 -0.52 -146.0 57.4 -18.8 49 307 0.00 2.28 0.00 0.000 6 0.000 0.060 2666 2480 3629 0 0 0 0 0 0

638 -0.40 -146.0 119.3 -16.3 99 643 0.25 2.40 0.00 0.000 4 0.220 0.086 2732 3898 3628 0 0 0 0 0 0

706 -0.48 -146.0 127.6 -9.7 104 713 0.00 2.28 0.00 0.000 6 0.000 0.060 2732 2482 3628 0 0 0 0 0 0

1032 -0.55 -146.0 157.3 -9.1 135 1037 0.15 2.33 0.00 0.000 4 0.120 0.076 2680 1076 3627 0 0 0 0 0 0

1089 -0.53 -146.0 164.5 -13.2 140 1093 0.00 2.35 0.00 0.000 6 0.000 0.076 2680 2496 3627 0 0 0 0 0 0

1419 -0.48 -146.0 207.2 -12.5 171 1424 0.00 2.40 0.00 0.000 4 0.000 0.090 2680 3910 3626 0 0 0 0 0 0

1453 -0.48 -146.0 211.6 -12.5 173 1460 0.00 2.30 0.00 0.000 6 0.000 0.059 2680 2485 3627 0 0 0 0 0 0

1779 -0.44 -146.0 249.9 -11.9 204 1781 0.15 0.00 0.00 0.000 6 0.212 0.000 2715 2485 3627 0 0 0 0 0 0

2098 -0.51 -146.0 277.6 -8.1 234 2102 0.00 2.42 0.00 0.000 4 0.000 0.088 2715 3907 3627 0 0 0 0 0 0

2120 -0.60 -146.0 279.5 -8.2 235 2127 0.15 2.28 0.00 0.000 6 0.116 0.060 2664 2487 3627 0 0 0 0 0 0

2446 -0.54 -146.0 317.4 -11.4 266 2450 0.00 2.30 0.00 0.000 4 0.000 0.074 2664 1078 3626 0 0 0 0 0 0

2473 -0.50 -146.0 320.9 -11.7 268 2481 0.15 2.35 0.00 0.000 6 0.213 0.075 2699 2492 3626 0 0 0 0 0 0

2800 -0.54 -146.0 348.8 -9.2 299 2804 0.00 2.40 0.00 0.000 4 0.000 0.090 2699 3906 3626 0 0 0 0 0 0

2821 -0.59 -146.0 350.9 -9.0 300 2828 0.00 2.30 0.00 0.000 6 0.000 0.060 2699 2483 3626 0 0 0 0 0 0

3147 -0.64 -146.0 379.9 -8.4 331 3152 0.12 2.30 0.00 0.000 4 0.133 0.073 2657 1077 3626 0 0 0 0 0 0

3165 -0.64 -146.0 381.7 -8.8 332 3169 0.00 2.35 0.00 0.000 6 0.000 0.075 2657 2490 3626 0 0 0 0 0 0

3496 -0.58 -146.0 420.5 -11.7 363 3500 0.00 2.40 0.00 0.000 4 0.000 0.088 2656 3905 3626 0 0 0 0 0 0

3563 -0.58 -146.0 428.6 -10.7 368 3570 0.00 2.30 0.00 0.000 6 0.000 0.058 2657 2478 3626 0 0 0 0 0 0

3891 -0.53 -146.0 466.9 -12.0 399 3896 0.12 2.30 0.00 0.000 4 0.209 0.073 2686 1073 3627 0 0 0 0 0 0

3912 -0.53 -146.0 469.8 -11.1 400 3919 0.00 2.35 0.00 0.000 6 0.000 0.073 2686 2492 3626 0 0 0 0 0 0

4238 -0.56 -146.0 499.5 -8.9 431 4243 0.00 2.38 0.00 0.000 4 0.000 0.088 2686 3909 3627 0 0 0 0 0 0

4255 -0.60 -146.0 501.1 -9.1 432 4262 0.00 2.30 0.00 0.000 6 0.000 0.057 2686 2481 3626 0 0 0 0 0 0

4581 -0.63 -146.0 530.2 -9.2 463 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2481 3627 0 0 0 0 0 0

4902 -0.66 -146.0 559.0 -9.0 493 4908 0.12 0.00 0.00 0.000 6 0.132 0.000 2643 2481 3627 0 0 0 0 0 0

5227 -0.59 -146.0 599.8 -12.8 524 5229 0.12 0.00 0.00 0.000 6 0.214 0.000 2672 2480 3628 0 0 0 0 0 0

5389 end dive: TARGET_DEPTH_EXCEEDED

state 5389 begin apogee

5395 -0.12 0.0 616.5 10.0 530 5529 0.50 0.00 125.70 1.322 6 0.197 0.000 2814 2254 3030 0 0 0 0 0 0

5530 end apogee: CONTROL_FINISHED_OK

state 5530 begin climb

5532 0.62 146.0 621.9 0.0 534 5678 0.80 2.67 132.85 1.277 4 0.142 0.076 3059 875 2431 0 0 0 0 0 0

5741 0.58 146.0 609.0 10.3 540 5747 0.00 2.50 0.00 0.000 6 0.000 0.063 3059 2280 2427 0 0 0 0 0 0

6064 0.52 146.0 575.7 10.4 565 6068 0.00 2.40 0.00 0.000 4 0.000 0.080 3059 3692 2425 0 0 0 0 0 0

6142 0.42 146.0 565.8 12.9 571 6150 0.28 2.35 0.00 0.000 6 0.194 0.063 3000 2276 2424 0 0 0 0 0 0

6468 0.54 193.7 540.3 7.8 602 6513 0.12 0.00 41.55 1.222 6 0.106 0.000 3057 2276 2240 0 0 0 0 0 0

6830 0.54 193.7 499.7 11.2 636 6831 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2276 2234 0 0 0 0 0 0

7153 0.54 193.7 464.7 10.9 666 7159 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2276 2233 0 0 0 0 0 0

7479 0.54 193.7 429.9 10.6 697 7480 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2276 2232 0 0 0 0 0 0

7799 0.54 193.7 396.1 10.8 727 7800 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2276 2232 0 0 0 0 0 0

8116 0.54 193.7 361.4 11.2 757 8120 0.00 2.38 0.00 0.000 4 0.000 0.076 3056 3697 2231 0 0 0 0 0 0

8162 0.48 193.7 355.8 13.0 761 8167 0.17 2.33 0.00 0.000 6 0.185 0.062 3022 2266 2231 0 0 0 0 0 0

8488 0.59 233.7 327.9 8.2 791 8532 0.00 2.40 35.62 1.131 4 0.000 0.079 3028 863 2075 0 0 0 0 0 0

8581 0.75 272.8 320.3 8.2 799 8626 0.22 2.35 36.80 1.105 6 0.086 0.064 3119 2284 1917 0 0 0 0 0 0

8944 0.65 272.8 259.1 18.1 833 8949 0.15 2.35 0.00 0.000 4 0.189 0.077 3081 3696 1910 0 0 0 0 0 0

9000 0.65 272.8 249.4 15.4 837 9007 0.00 2.33 0.00 0.000 6 0.000 0.063 3089 2271 1907 0 0 0 0 0 0

9326 0.65 272.8 205.1 13.2 868 9330 0.00 2.30 0.00 0.000 4 0.000 0.076 3099 860 1907 0 0 0 0 0 0

9388 0.68 272.8 197.5 12.1 873 9392 0.00 2.30 0.00 0.000 6 0.000 0.063 3099 2275 1905 0 0 0 0 0 0

9714 0.68 272.8 157.3 12.4 903 9718 0.00 2.33 0.00 0.000 4 0.000 0.078 3099 3698 1905 0 0 0 0 0 0

9744 0.68 272.8 153.2 15.2 905 9748 0.00 2.33 0.00 0.000 6 0.000 0.063 3110 2267 1905 0 0 0 0 0 0

10069 0.68 272.8 116.6 10.0 935 10074 0.00 2.30 0.00 0.000 4 0.000 0.076 3120 857 1905 0 0 0 0 0 0

10127 0.74 290.0 110.9 9.2 939 10148 0.00 2.33 15.18 0.974 6 0.000 0.067 3120 2276 1846 0 0 0 0 0 0

10484 0.77 290.0 67.2 13.2 993 10490 0.00 2.33 0.00 0.000 4 0.000 0.079 3121 3694 1842 0 0 0 0 0 0

10554 0.77 290.0 57.8 12.5 1005 10561 0.00 2.33 0.00 0.000 6 0.000 0.063 3131 2264 1842 0 0 0 0 0 0

10900 0.78 297.2 21.2 9.7 1066 10914 0.00 2.38 3.62 0.705 4 0.000 0.079 3139 861 1817 0 0 0 0 0 0

10954 0.78 297.2 15.8 10.2 1075 10961 0.00 2.30 0.00 0.000 6 0.000 0.068 3139 2275 1816 0 0 0 0 0 0

11012 end climb: FINISH_DEPTH_REACHED

state 11012 begin subsurface finish

11019 0.10 80.2 8.8 -12.8 1085 11062 0.80 2.35 -33.65 0.000 4 0.171 0.094 2904 3687 2705 0 0 0 0 0 0

11063 end subsurface finish: CONTROL_FINISHED_OK

state 11063 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	563	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	20	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-46593.008	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060511,161632,6650.382,-6010.151,0,4104.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	118.5,147841,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	616

FREEZE	8.83,-1.699,-1.766,2,98,0	ALTIM_TOP_PING	19.3,17.2
FINISH1	8.8,1.025865,80	_24V_AH	21.5,74.627
FINISH2	7.4	_10V_AH	10.0,38.525
RAFOS_CLK	608	FG_AHR_24Vo	0.000
RAFOS	0,1304712066,20.033333,20.018333,85,66,55,54,53,52,648,202,170,181,228,219	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.619629,-6002.332031,060511,202022,6,85,0.41	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43382,1092
TT8_MAMPS	0.026964	CAP_FILE_SIZE	123354,0
HUMID	47.75	CFSIZE	260165632,216920064
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.30	SOUNDSPEED	1453.6
XPDR_PINGS	0	GPS	060511,202722,6651.620,-6002.332,0,6084.8,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	219	23.96	SBE_CT	780	24	402.82
Roll_motor	99	177	379.10	SBE_O2	837	19	342.16
VBD_pump_during_apogee	391	1321	11121.96	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2630	19	523.96
LPSleep	6056	2	139.90
TT8_Active	454	19	90.52
TT8_Sampling	1787	39	713.38
TT8_CF8	212	45	97.46
TT8_Kalman	0	0	0.00
Analog_circuits	1424	12	170.93
GPS_charging	0	0	0.00
Compass	1774	15	266.10
RAFOS	2520	1	37.80
Transponder	14	30	4.49

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.62	0.000	2	0.000	0.000	2901	3686	2885	0	0	0	0	0	0
27	-0.62	-146.0	9.1	-0.0	1	57	0.68	0.35	-22.48	0.000	4	0.106	0.177	2666	3897	3627	0	0	0	0	0	0
300	-0.52	-146.0	57.4	-18.8	49	307	0.00	2.28	0.00	0.000	6	0.000	0.060	2666	2480	3629	0	0	0	0	0	0
638	-0.40	-146.0	119.3	-16.3	99	643	0.25	2.40	0.00	0.000	4	0.220	0.086	2732	3898	3628	0	0	0	0	0	0
706	-0.48	-146.0	127.6	-9.7	104	713	0.00	2.28	0.00	0.000	6	0.000	0.060	2732	2482	3628	0	0	0	0	0	0
1032	-0.55	-146.0	157.3	-9.1	135	1037	0.15	2.33	0.00	0.000	4	0.120	0.076	2680	1076	3627	0	0	0	0	0	0
1089	-0.53	-146.0	164.5	-13.2	140	1093	0.00	2.35	0.00	0.000	6	0.000	0.076	2680	2496	3627	0	0	0	0	0	0
1419	-0.48	-146.0	207.2	-12.5	171	1424	0.00	2.40	0.00	0.000	4	0.000	0.090	2680	3910	3626	0	0	0	0	0	0
1453	-0.48	-146.0	211.6	-12.5	173	1460	0.00	2.30	0.00	0.000	6	0.000	0.059	2680	2485	3627	0	0	0	0	0	0
1779	-0.44	-146.0	249.9	-11.9	204	1781	0.15	0.00	0.00	0.000	6	0.212	0.000	2715	2485	3627	0	0	0	0	0	0
2098	-0.51	-146.0	277.6	-8.1	234	2102	0.00	2.42	0.00	0.000	4	0.000	0.088	2715	3907	3627	0	0	0	0	0	0
2120	-0.60	-146.0	279.5	-8.2	235	2127	0.15	2.28	0.00	0.000	6	0.116	0.060	2664	2487	3627	0	0	0	0	0	0
2446	-0.54	-146.0	317.4	-11.4	266	2450	0.00	2.30	0.00	0.000	4	0.000	0.074	2664	1078	3626	0	0	0	0	0	0
2473	-0.50	-146.0	320.9	-11.7	268	2481	0.15	2.35	0.00	0.000	6	0.213	0.075	2699	2492	3626	0	0	0	0	0	0
2800	-0.54	-146.0	348.8	-9.2	299	2804	0.00	2.40	0.00	0.000	4	0.000	0.090	2699	3906	3626	0	0	0	0	0	0
2821	-0.59	-146.0	350.9	-9.0	300	2828	0.00	2.30	0.00	0.000	6	0.000	0.060	2699	2483	3626	0	0	0	0	0	0
3147	-0.64	-146.0	379.9	-8.4	331	3152	0.12	2.30	0.00	0.000	4	0.133	0.073	2657	1077	3626	0	0	0	0	0	0
3165	-0.64	-146.0	381.7	-8.8	332	3169	0.00	2.35	0.00	0.000	6	0.000	0.075	2657	2490	3626	0	0	0	0	0	0
3496	-0.58	-146.0	420.5	-11.7	363	3500	0.00	2.40	0.00	0.000	4	0.000	0.088	2656	3905	3626	0	0	0	0	0	0
3563	-0.58	-146.0	428.6	-10.7	368	3570	0.00	2.30	0.00	0.000	6	0.000	0.058	2657	2478	3626	0	0	0	0	0	0
3891	-0.53	-146.0	466.9	-12.0	399	3896	0.12	2.30	0.00	0.000	4	0.209	0.073	2686	1073	3627	0	0	0	0	0	0
3912	-0.53	-146.0	469.8	-11.1	400	3919	0.00	2.35	0.00	0.000	6	0.000	0.073	2686	2492	3626	0	0	0	0	0	0
4238	-0.56	-146.0	499.5	-8.9	431	4243	0.00	2.38	0.00	0.000	4	0.000	0.088	2686	3909	3627	0	0	0	0	0	0
4255	-0.60	-146.0	501.1	-9.1	432	4262	0.00	2.30	0.00	0.000	6	0.000	0.057	2686	2481	3626	0	0	0	0	0	0
4581	-0.63	-146.0	530.2	-9.2	463	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2481	3627	0	0	0	0	0	0
4902	-0.66	-146.0	559.0	-9.0	493	4908	0.12	0.00	0.00	0.000	6	0.132	0.000	2643	2481	3627	0	0	0	0	0	0
5227	-0.59	-146.0	599.8	-12.8	524	5229	0.12	0.00	0.00	0.000	6	0.214	0.000	2672	2480	3628	0	0	0	0	0	0
5389	end dive: TARGET_DEPTH_EXCEEDED
state	5389	begin apogee
5395	-0.12	0.0	616.5	10.0	530	5529	0.50	0.00	125.70	1.322	6	0.197	0.000	2814	2254	3030	0	0	0	0	0	0
5530	end apogee: CONTROL_FINISHED_OK
state	5530	begin climb
5532	0.62	146.0	621.9	0.0	534	5678	0.80	2.67	132.85	1.277	4	0.142	0.076	3059	875	2431	0	0	0	0	0	0
5741	0.58	146.0	609.0	10.3	540	5747	0.00	2.50	0.00	0.000	6	0.000	0.063	3059	2280	2427	0	0	0	0	0	0
6064	0.52	146.0	575.7	10.4	565	6068	0.00	2.40	0.00	0.000	4	0.000	0.080	3059	3692	2425	0	0	0	0	0	0
6142	0.42	146.0	565.8	12.9	571	6150	0.28	2.35	0.00	0.000	6	0.194	0.063	3000	2276	2424	0	0	0	0	0	0
6468	0.54	193.7	540.3	7.8	602	6513	0.12	0.00	41.55	1.222	6	0.106	0.000	3057	2276	2240	0	0	0	0	0	0
6830	0.54	193.7	499.7	11.2	636	6831	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2276	2234	0	0	0	0	0	0
7153	0.54	193.7	464.7	10.9	666	7159	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2276	2233	0	0	0	0	0	0
7479	0.54	193.7	429.9	10.6	697	7480	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2276	2232	0	0	0	0	0	0
7799	0.54	193.7	396.1	10.8	727	7800	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2276	2232	0	0	0	0	0	0
8116	0.54	193.7	361.4	11.2	757	8120	0.00	2.38	0.00	0.000	4	0.000	0.076	3056	3697	2231	0	0	0	0	0	0
8162	0.48	193.7	355.8	13.0	761	8167	0.17	2.33	0.00	0.000	6	0.185	0.062	3022	2266	2231	0	0	0	0	0	0
8488	0.59	233.7	327.9	8.2	791	8532	0.00	2.40	35.62	1.131	4	0.000	0.079	3028	863	2075	0	0	0	0	0	0
8581	0.75	272.8	320.3	8.2	799	8626	0.22	2.35	36.80	1.105	6	0.086	0.064	3119	2284	1917	0	0	0	0	0	0
8944	0.65	272.8	259.1	18.1	833	8949	0.15	2.35	0.00	0.000	4	0.189	0.077	3081	3696	1910	0	0	0	0	0	0
9000	0.65	272.8	249.4	15.4	837	9007	0.00	2.33	0.00	0.000	6	0.000	0.063	3089	2271	1907	0	0	0	0	0	0
9326	0.65	272.8	205.1	13.2	868	9330	0.00	2.30	0.00	0.000	4	0.000	0.076	3099	860	1907	0	0	0	0	0	0
9388	0.68	272.8	197.5	12.1	873	9392	0.00	2.30	0.00	0.000	6	0.000	0.063	3099	2275	1905	0	0	0	0	0	0
9714	0.68	272.8	157.3	12.4	903	9718	0.00	2.33	0.00	0.000	4	0.000	0.078	3099	3698	1905	0	0	0	0	0	0
9744	0.68	272.8	153.2	15.2	905	9748	0.00	2.33	0.00	0.000	6	0.000	0.063	3110	2267	1905	0	0	0	0	0	0
10069	0.68	272.8	116.6	10.0	935	10074	0.00	2.30	0.00	0.000	4	0.000	0.076	3120	857	1905	0	0	0	0	0	0
10127	0.74	290.0	110.9	9.2	939	10148	0.00	2.33	15.18	0.974	6	0.000	0.067	3120	2276	1846	0	0	0	0	0	0
10484	0.77	290.0	67.2	13.2	993	10490	0.00	2.33	0.00	0.000	4	0.000	0.079	3121	3694	1842	0	0	0	0	0	0
10554	0.77	290.0	57.8	12.5	1005	10561	0.00	2.33	0.00	0.000	6	0.000	0.063	3131	2264	1842	0	0	0	0	0	0
10900	0.78	297.2	21.2	9.7	1066	10914	0.00	2.38	3.62	0.705	4	0.000	0.079	3139	861	1817	0	0	0	0	0	0
10954	0.78	297.2	15.8	10.2	1075	10961	0.00	2.30	0.00	0.000	6	0.000	0.068	3139	2275	1816	0	0	0	0	0	0
11012	end climb: FINISH_DEPTH_REACHED
state	11012	begin subsurface finish
11019	0.10	80.2	8.8	-12.8	1085	11062	0.80	2.35	-33.65	0.000	4	0.171	0.094	2904	3687	2705	0	0	0	0	0	0
11063	end subsurface finish: CONTROL_FINISHED_OK
state	11063	begin surface